Changeset 15 in flair-src for trunk/lib/FlairSimulator/src/SimuCameraGL.cpp

Timestamp:

04/08/16 15:40:57 (8 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSimulator/src/SimuCameraGL.cpp (modified) (1 diff)

trunk/lib/FlairSimulator/src/SimuCameraGL.cpp

@@ -41 +41 @@
 using namespace flair::simulator;
 
-namespace flair
-{
-namespace sensor
-{
-
-SimuCameraGL::SimuCameraGL(const Model* parent,std::string name,int width,int height,int x,int y,int dev_id) :SimuCamera(parent,name,width,height,3,dev_id),SensorGL(parent)
-{
-    smgr=getGui()->getSceneManager();
-    camera=smgr->addCameraSceneNode();
-    camera->addAnimator(this);
-    camera->setAspectRatio(4.0f/3.0f);//on force a cause du view port
-
-    this->width=width;
-    this->height=height;
-    this->x=x;
-    this->y=y;
-
-    index = 0;
-
-    buffer=(char*)malloc(width*height*3);
-
-    //user interface
-    Tab* setup_tab=new Tab(parent->GetTabWidget(),name);
-        position=new Vector3DSpinBox(setup_tab->NewRow(),"position",-2,2,.01);
-        direction=new Vector3DSpinBox(setup_tab->NewRow(),"direction",-2,2,.01);
-        up=new Vector3DSpinBox(setup_tab->NewRow(),"up",-2,2,.01);
-        fov=new DoubleSpinBox(setup_tab->NewRow(),"fov:",0,180,5);
-
-    if(strcmp((char*)glGetString(GL_VENDOR),"Intel Open Source Technology Center")==0) {
-        Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
-        disable_output=true;
-    } else {
-        disable_output=false;
+namespace flair {
+namespace sensor {
+
+SimuCameraGL::SimuCameraGL(const Model *parent, std::string name, int width,
+                           int height, int x, int y, int dev_id)
+    : SimuCamera(parent, name, width, height, 3, dev_id), SensorGL(parent) {
+  smgr = getGui()->getSceneManager();
+  camera = smgr->addCameraSceneNode();
+  camera->addAnimator(this);
+  camera->setAspectRatio(4.0f / 3.0f); // on force a cause du view port
+
+  this->width = width;
+  this->height = height;
+  this->x = x;
+  this->y = y;
+
+  index = 0;
+
+  buffer = (char *)malloc(width * height * 3);
+
+  // user interface
+  Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
+  position = new Vector3DSpinBox(setup_tab->NewRow(), "position", -2, 2, .01);
+  direction = new Vector3DSpinBox(setup_tab->NewRow(), "direction", -2, 2, .01);
+  up = new Vector3DSpinBox(setup_tab->NewRow(), "up", -2, 2, .01);
+  fov = new DoubleSpinBox(setup_tab->NewRow(), "fov:", 0, 180, 5);
+
+  if (strcmp((char *)glGetString(GL_VENDOR),
+             "Intel Open Source Technology Center") == 0) {
+    Thread::Warn("disabling cameras output for Intel card (bug with PBO)\n");
+    disable_output = true;
+  } else {
+    disable_output = false;
+  }
+
+  if (isGlExtensionSupported("GL_ARB_pixel_buffer_object")) {
+    use_pbo = true;
+    // create 2 pixel buffer objects, you need to delete them when program
+    // exits.
+    // glBufferDataARB with NULL pointer reserves only memory space.
+    pboIds = (GLuint *)malloc(PBO_COUNT * sizeof(GLuint));
+    glGenBuffersARB(PBO_COUNT, pboIds);
+    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
+    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3, 0,
+                    GL_STREAM_READ_ARB);
+    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
+    glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width * height * 3, 0,
+                    GL_STREAM_READ_ARB);
+
+    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
+  } else {
+    use_pbo = false;
+    Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
+  }
+  if (isGlExtensionSupported("GL_PACK_INVERT_MESA")) {
+    invert_pixel = false;
+    Thread::Warn("GL_PACK_INVERT_MESA is suppoorted\n");
+  } else {
+    invert_pixel = true;
+  }
+}
+
+SimuCameraGL::~SimuCameraGL() {
+  free(buffer);
+
+  if (use_pbo) {
+    glDeleteBuffersARB(PBO_COUNT, pboIds);
+    free(pboIds);
+  }
+}
+
+void SimuCameraGL::setNearValue(float zn) { camera->setNearValue(zn); }
+
+void SimuCameraGL::setFarValue(float zf) { camera->setFarValue(zf); }
+
+void SimuCameraGL::UpdateFrom(const io_data *data) {
+  if (noGui() == false && data == NULL) {
+    smgr->setActiveCamera(camera);
+    smgr->getVideoDriver()->setViewPort(rect<s32>(x, y, x + width, y + height));
+    smgr->drawAll();
+    // use_pbo=false;
+    getImage();
+  }
+}
+
+void SimuCameraGL::getImage(void) {
+  if (disable_output)
+    return;
+  // convert from irrlicht top left origin to gl bottom left origin
+  int y = smgr->getVideoDriver()->getScreenSize().Height - height - this->y;
+
+  // We want to read the front buffer to get the latest render finished.
+  Time a = GetTime();
+  glReadBuffer(GL_FRONT);
+  if (use_pbo) // with PBO
+  {
+    // increment current index first then get the next index
+    // "index" is used to read pixels from a framebuffer to a PBO
+    // "nextIndex" is used to process pixels in the other PBO
+    index = (index + 1) % PBO_COUNT;
+    int nextIndex = (index + 1) % PBO_COUNT;
+
+    // copy pixels from framebuffer to PBO
+    // Use offset instead of pointer.
+    // OpenGL should perform asynch DMA transfer, so glReadPixels() will return
+    // immediately.
+    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
+    glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, 0);
+
+    // map the PBO that contain framebuffer pixels before processing it
+    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
+    GLubyte *src = (GLubyte *)glMapBufferARB(
+        GL_PIXEL_PACK_BUFFER_ARB, GL_READ_WRITE_ARB); // GL_READ_ONLY_ARB);
+    if (src) {
+      putImage((char *)src);
+      glUnmapBufferARB(
+          GL_PIXEL_PACK_BUFFER_ARB); // release pointer to the mapped buffer
     }
-
-    if(isGlExtensionSupported("GL_ARB_pixel_buffer_object"))
-    {
-        use_pbo=true;
-         // create 2 pixel buffer objects, you need to delete them when program exits.
-        // glBufferDataARB with NULL pointer reserves only memory space.
-        pboIds=(GLuint*)malloc(PBO_COUNT*sizeof(GLuint));
-        glGenBuffersARB(PBO_COUNT, pboIds);
-        glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[0]);
-        glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width*height*3, 0, GL_STREAM_READ_ARB);
-        glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[1]);
-        glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, width*height*3, 0, GL_STREAM_READ_ARB);
-
-        glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
+    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
+  } else {
+    glReadPixels(x, y, width, height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
+    putImage(buffer);
+  }
+
+  glReadBuffer(GL_BACK);
+  Time b = GetTime();
+  Time c = b - a;
+  // printf("%s %f\n",Thread::ObjectName().c_str(),(float)(c/1000000.));
+}
+
+void SimuCameraGL::putImage(char *buf) {
+  if (invert_pixel == true) {
+    // opengl images are horizontally flipped, so we have to fix that here.
+    const s32 pitch = width * 3;
+    char *pixels = buf;
+    char *p2 = pixels + (height - 1) * pitch;
+    char *tmpBuffer = new char[pitch];
+    for (int i = 0; i < height; i += 2) {
+      memcpy(tmpBuffer, pixels, pitch);
+      memcpy(pixels, p2, pitch);
+      memcpy(p2, tmpBuffer, pitch);
+      pixels += pitch;
+      p2 -= pitch;
     }
-    else
-    {
-        use_pbo=false;
-        Thread::Warn("GL_ARB_pixel_buffer_object is not suppoorted\n");
-    }
-    if(isGlExtensionSupported("GL_PACK_INVERT_MESA"))
-    {
-        invert_pixel=false;
-        Thread::Warn("GL_PACK_INVERT_MESA is suppoorted\n");
-    }
-    else
-    {
-        invert_pixel=true;
-    }
-}
-
-SimuCameraGL::~SimuCameraGL()
-{
-    free(buffer);
-
-    if(use_pbo)
-    {
-        glDeleteBuffersARB(PBO_COUNT, pboIds);
-        free(pboIds);
-    }
-}
-
-void SimuCameraGL::setNearValue(float zn) {
-    camera->setNearValue(zn);
-}
-
-
-void SimuCameraGL::setFarValue(float zf) {
-    camera->setFarValue(zf);
-}
-
-
-void SimuCameraGL::UpdateFrom(const io_data *data)
-{
-    if(noGui()==false && data==NULL)
-    {
-        smgr->setActiveCamera(camera);
-        smgr->getVideoDriver()->setViewPort(rect<s32>(x,y,x+width,y+height));
-        smgr->drawAll();
-        //use_pbo=false;
-        getImage();
-    }
-}
-
-void SimuCameraGL::getImage(void)
-{
-    if(disable_output) return;
-    //convert from irrlicht top left origin to gl bottom left origin
-    int y=smgr->getVideoDriver()->getScreenSize().Height-height-this->y;
-
-        // We want to read the front buffer to get the latest render finished.
-        Time a=GetTime();
-        glReadBuffer(GL_FRONT);
-        if(use_pbo) // with PBO
-    {
-        // increment current index first then get the next index
-        // "index" is used to read pixels from a framebuffer to a PBO
-        // "nextIndex" is used to process pixels in the other PBO
-        index = (index + 1) % PBO_COUNT;
-        int nextIndex = (index + 1) % PBO_COUNT;
-
-        // copy pixels from framebuffer to PBO
-        // Use offset instead of pointer.
-        // OpenGL should perform asynch DMA transfer, so glReadPixels() will return immediately.
-        glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[index]);
-        glReadPixels(x,y,width,height, GL_BGR, GL_UNSIGNED_BYTE, 0);
-
-        // map the PBO that contain framebuffer pixels before processing it
-        glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pboIds[nextIndex]);
-        GLubyte* src = (GLubyte*)glMapBufferARB(GL_PIXEL_PACK_BUFFER_ARB,GL_READ_WRITE_ARB);//GL_READ_ONLY_ARB);
-        if(src)
-        {
-            putImage((char*)src);
-            glUnmapBufferARB(GL_PIXEL_PACK_BUFFER_ARB);     // release pointer to the mapped buffer
-        }
-        glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
-    }
-    else
-    {
-        glReadPixels(x,y,width,height, GL_BGR, GL_UNSIGNED_BYTE, buffer);
-        putImage(buffer);
-    }
-
-        glReadBuffer(GL_BACK);
-        Time b=GetTime();
-        Time c=b-a;
-        //printf("%s %f\n",Thread::ObjectName().c_str(),(float)(c/1000000.));
-}
-
-void SimuCameraGL::putImage(char* buf)
-{
-    if(invert_pixel==true)
-    {
-        // opengl images are horizontally flipped, so we have to fix that here.
-        const s32 pitch=width*3;
-        char* pixels = buf;
-        char* p2 = pixels + (height - 1) * pitch;
-        char* tmpBuffer = new char[pitch];
-        for (int i=0; i < height; i += 2)
-        {
-            memcpy(tmpBuffer, pixels, pitch);
-            memcpy(pixels, p2, pitch);
-            memcpy(p2, tmpBuffer, pitch);
-            pixels += pitch;
-            p2 -= pitch;
-        }
-        delete [] tmpBuffer;
-    }
-
-    shmem->Write(buf,width*height*3);
-}
-
-void SimuCameraGL::animateNode(ISceneNode* node, u32 timeMs)
-{
-    ICameraSceneNode* camera = static_cast<ICameraSceneNode*>(node);
-
-    matrix4 m;
-    m.setRotationDegrees(Node()->getRotation());
-
-    // transform forward vector of camera
-    vector3df frv =ToIrrlichtCoordinates(direction->Value());
-    m.transformVect(frv);
-
-    // transform upvector of camera
-    vector3df upv =ToIrrlichtCoordinates(up->Value());
-    m.transformVect(upv);
-
-    // transform camera offset (thanks to Zeuss for finding it was missing)
-    vector3df offset = ToIrrlichtCoordinates(position->Value());
-    m.transformVect(offset);
-
-    // set camera
-    camera->setPosition(Node()->getPosition() + offset); //position camera in front of the ship
-    camera->setUpVector(upv); //set up vector of camera >> Zeuss - tested with +node->getPostion() and it didnt work, but this works fine.
-    camera->setTarget(Node()->getPosition() + offset+frv); //set target of camera (look at point) >> Zeuss - Dont forget to add the node positiob
-
-    camera->setFOV(Euler::ToRadian(fov->Value()));
-}
-
-ISceneNodeAnimator* SimuCameraGL::createClone(ISceneNode* node,
-            ISceneManager* newManager)
-{
-    return NULL;
+    delete[] tmpBuffer;
+  }
+
+  shmem->Write(buf, width * height * 3);
+}
+
+void SimuCameraGL::animateNode(ISceneNode *node, u32 timeMs) {
+  ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
+
+  matrix4 m;
+  m.setRotationDegrees(Node()->getRotation());
+
+  // transform forward vector of camera
+  vector3df frv = ToIrrlichtCoordinates(direction->Value());
+  m.transformVect(frv);
+
+  // transform upvector of camera
+  vector3df upv = ToIrrlichtCoordinates(up->Value());
+  m.transformVect(upv);
+
+  // transform camera offset (thanks to Zeuss for finding it was missing)
+  vector3df offset = ToIrrlichtCoordinates(position->Value());
+  m.transformVect(offset);
+
+  // set camera
+  camera->setPosition(Node()->getPosition() +
+                      offset); // position camera in front of the ship
+  camera->setUpVector(upv);    // set up vector of camera >> Zeuss - tested with
+  // +node->getPostion() and it didnt work, but this
+  // works fine.
+  camera->setTarget(Node()->getPosition() + offset + frv); // set target of
+                                                           // camera (look at
+                                                           // point) >> Zeuss -
+                                                           // Dont forget to add
+                                                           // the node positiob
+
+  camera->setFOV(Euler::ToRadian(fov->Value()));
+}
+
+ISceneNodeAnimator *SimuCameraGL::createClone(ISceneNode *node,
+                                              ISceneManager *newManager) {
+  return NULL;
 }